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Altho your model already has a basic skeleton it doesnt have very good controls for animating it. This section will take care of the legs. Create a few new bones. FootTarget will start at the base of the foot bone and move straight out. ThighTarget is a child of the FootTarget and is placed in front of the knees, a few feet out. |
 | Right-Click your model and create a new On/Off pose. |
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Your pose window will pop up. Turn on Compensate Mode. You'll need to turn this back on before every constraint. |
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Select the Calf Bone, Right-Click. Choose New Constraint > Kinematic. Choose the FootTarget.
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 | Turn Compensate mode back on. Select the foot, Create a new Orient-Like Constraint and choose the FootTarget bone again. |
 | Now select the thigh bone (for this one you dont really need Compensate), Create a Aim-At constraint and select the ThighTarget. |
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Your legs is fully rigged! Now do the same thing for the other leg. Now for some cleanup, because your leg and foot are being controlled by the target bones you dont need to see them anymore. Just select the bone, hit the J key and they'll disappear. |
 | Don't forget to rename your pose! |
 | Now if you create a new action and turn on the leg constraint pose the feet "stick" when you grab the stomach bone and move it around. |